Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Predictive Computed-torque Control of a Puma 560 Manipulator Robot

Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...

Nonlinear computed torque control for a high-speed planar parallel manipulator

Article history: Received 28 September 2008 Accepted 7 April 2009

Design Computed Torque Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

Computed torque controller (CTC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of h ighly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, computed torque controller is used in many applications; it has an important drawback namely; nonline...

Mechatronic design of a 3-DOF parallel translational manipulator

This paper presents the development steps of a fast manipulator, up to the building of the experimental device, in a context of mechatronic design which implies the integration of several engineering disciplines. High performance of the manipulator has been achieved by means of the suitable integration of the mechanical part and the drive part. For the mechanical part we choose a 3-dof parallel...

Supervision and Control Strategies of a 6 DOF Parallel Manipulator Using a Mechatronic Approach